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<div class="title">frustum_culling.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_FRUSTUM_CULLING_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_FILTERS_FRUSTUM_CULLING_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter_indices.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html">   78</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_frustum_culling.html">FrustumCulling</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; FrustumCulling&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const FrustumCulling&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html">FrustumCulling</a> (<span class="keywordtype">bool</span> extract_removed_indices = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        : <a class="code" href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">FilterIndices&lt;PointT&gt;::FilterIndices</a> (extract_removed_indices)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        , <a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a> (Eigen::Matrix4f::Identity ())</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        , <a class="code" href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">hfov_</a> (60.0f)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        , <a class="code" href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">vfov_</a> (60.0f)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        , <a class="code" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a> (0.1f)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        , <a class="code" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a> (5.0f)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;FrustumCulling&quot;</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#ae22a939225ebbe244fcca8712133fcf3">  122</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#ae22a939225ebbe244fcca8712133fcf3">setCameraPose</a> (<span class="keyword">const</span> Eigen::Matrix4f&amp; camera_pose)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a> = camera_pose;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      Eigen::Matrix4f</div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#ad4393312421ab88fba3db97ac03edf8f">  129</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#ad4393312421ab88fba3db97ac03edf8f">getCameraPose</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a>);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a8d63f4dd03d08f8d5f326cb3f6969ffd">  138</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#a8d63f4dd03d08f8d5f326cb3f6969ffd">setHorizontalFOV</a> (<span class="keywordtype">float</span> hfov)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">hfov_</a> = hfov;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a33a1797ff12e766fa6082e9cc98410d3">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#a33a1797ff12e766fa6082e9cc98410d3">getHorizontalFOV</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">hfov_</a>);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a60bf9eb93e9af3229b62c1ccc1bda218">  154</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#a60bf9eb93e9af3229b62c1ccc1bda218">setVerticalFOV</a> (<span class="keywordtype">float</span> vfov)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">vfov_</a> = vfov;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a032da37b9053f2f9bda57d4d5ebe3171">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#a032da37b9053f2f9bda57d4d5ebe3171">getVerticalFOV</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">vfov_</a>);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a42b65e698fe639177356b69017b3dfa4">  170</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#a42b65e698fe639177356b69017b3dfa4">setNearPlaneDistance</a> (<span class="keywordtype">float</span> np_dist)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a> = np_dist;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a13588c4853b4cd8ecb200df65480f62f">  177</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#a13588c4853b4cd8ecb200df65480f62f">getNearPlaneDistance</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a>);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a8ae07e7fc9e66ca72b15655a0317183d">  186</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#a8ae07e7fc9e66ca72b15655a0317183d">setFarPlaneDistance</a> (<span class="keywordtype">float</span> fp_dist)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <a class="code" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a> = fp_dist;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#abe91a0b063a5f8db2e04bd9145b70eea">  193</a></span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#abe91a0b063a5f8db2e04bd9145b70eea">getFarPlaneDistance</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a>);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::negative_</a>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::keep_organized_</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::user_filter_value_</a>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::extract_removed_indices_</a>;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::removed_indices_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#ae7eb1b86fd89d9b82f30288eaa178211">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <a class="code" href="classpcl_1_1_frustum_culling.html#ae7eb1b86fd89d9b82f30288eaa178211">applyFilter</a> (std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">  223</a></span>&#160;      Eigen::Matrix4f <a class="code" href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">camera_pose_</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">  225</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">hfov_</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">  227</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">vfov_</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">  229</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">np_dist_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">  231</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">fp_dist_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  };</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;}</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/frustum_culling.hpp&gt;</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html"><div class="ttname"><a href="classpcl_1_1_filter_indices.html">pcl::FilterIndices</a></div><div class="ttdoc">FilterIndices represents the base class for filters that are about binary point removal....</div><div class="ttdef"><b>Definition:</b> filter_indices.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a72c8696f1bc2e4a6e92172371a45d592"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a72c8696f1bc2e4a6e92172371a45d592">pcl::FilterIndices::FilterIndices</a></div><div class="ttdeci">FilterIndices(bool extract_removed_indices=false)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> filter_indices.h:88</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html">pcl::FrustumCulling</a></div><div class="ttdoc">FrustumCulling filters points inside a frustum given by pose and field of view of the camera.</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a032da37b9053f2f9bda57d4d5ebe3171"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a032da37b9053f2f9bda57d4d5ebe3171">pcl::FrustumCulling::getVerticalFOV</a></div><div class="ttdeci">float getVerticalFOV() const</div><div class="ttdoc">Get the vertical field of view for the camera in degrees</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a13588c4853b4cd8ecb200df65480f62f"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a13588c4853b4cd8ecb200df65480f62f">pcl::FrustumCulling::getNearPlaneDistance</a></div><div class="ttdeci">float getNearPlaneDistance() const</div><div class="ttdoc">Get the near plane distance.</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a1e51630af54f8a8e286b86abdd7d19bc"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a1e51630af54f8a8e286b86abdd7d19bc">pcl::FrustumCulling::hfov_</a></div><div class="ttdeci">float hfov_</div><div class="ttdoc">Horizontal field of view</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a33a1797ff12e766fa6082e9cc98410d3"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a33a1797ff12e766fa6082e9cc98410d3">pcl::FrustumCulling::getHorizontalFOV</a></div><div class="ttdeci">float getHorizontalFOV() const</div><div class="ttdoc">Get the horizontal field of view for the camera in degrees</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a3c5064f0aa194603d524ad3399c8fe38"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a3c5064f0aa194603d524ad3399c8fe38">pcl::FrustumCulling::fp_dist_</a></div><div class="ttdeci">float fp_dist_</div><div class="ttdoc">Far plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a41d54a0e33b0f885625ebfb87cbd6f61"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a41d54a0e33b0f885625ebfb87cbd6f61">pcl::FrustumCulling::camera_pose_</a></div><div class="ttdeci">Eigen::Matrix4f camera_pose_</div><div class="ttdoc">The camera pose</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a42b65e698fe639177356b69017b3dfa4"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a42b65e698fe639177356b69017b3dfa4">pcl::FrustumCulling::setNearPlaneDistance</a></div><div class="ttdeci">void setNearPlaneDistance(float np_dist)</div><div class="ttdoc">Set the near plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a60bf9eb93e9af3229b62c1ccc1bda218"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a60bf9eb93e9af3229b62c1ccc1bda218">pcl::FrustumCulling::setVerticalFOV</a></div><div class="ttdeci">void setVerticalFOV(float vfov)</div><div class="ttdoc">Set the vertical field of view for the camera in degrees</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a8ae07e7fc9e66ca72b15655a0317183d"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a8ae07e7fc9e66ca72b15655a0317183d">pcl::FrustumCulling::setFarPlaneDistance</a></div><div class="ttdeci">void setFarPlaneDistance(float fp_dist)</div><div class="ttdoc">Set the far plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_a8d63f4dd03d08f8d5f326cb3f6969ffd"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#a8d63f4dd03d08f8d5f326cb3f6969ffd">pcl::FrustumCulling::setHorizontalFOV</a></div><div class="ttdeci">void setHorizontalFOV(float hfov)</div><div class="ttdoc">Set the horizontal field of view for the camera in degrees</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_abe91a0b063a5f8db2e04bd9145b70eea"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#abe91a0b063a5f8db2e04bd9145b70eea">pcl::FrustumCulling::getFarPlaneDistance</a></div><div class="ttdeci">float getFarPlaneDistance() const</div><div class="ttdoc">Get the far plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_ad4393312421ab88fba3db97ac03edf8f"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#ad4393312421ab88fba3db97ac03edf8f">pcl::FrustumCulling::getCameraPose</a></div><div class="ttdeci">Eigen::Matrix4f getCameraPose() const</div><div class="ttdoc">Get the pose of the camera w.r.t the origin</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_adb383a12280360bf6b3306c1446ccd5c"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#adb383a12280360bf6b3306c1446ccd5c">pcl::FrustumCulling::vfov_</a></div><div class="ttdeci">float vfov_</div><div class="ttdoc">Vertical field of view</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_ae22a939225ebbe244fcca8712133fcf3"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#ae22a939225ebbe244fcca8712133fcf3">pcl::FrustumCulling::setCameraPose</a></div><div class="ttdeci">void setCameraPose(const Eigen::Matrix4f &amp;camera_pose)</div><div class="ttdoc">Set the pose of the camera w.r.t the origin</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_ae29b9fa3f16ef0efa31b2bc937c8d3c1"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#ae29b9fa3f16ef0efa31b2bc937c8d3c1">pcl::FrustumCulling::np_dist_</a></div><div class="ttdeci">float np_dist_</div><div class="ttdoc">Near plane distance</div><div class="ttdef"><b>Definition:</b> frustum_culling.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_frustum_culling_html_ae7eb1b86fd89d9b82f30288eaa178211"><div class="ttname"><a href="classpcl_1_1_frustum_culling.html#ae7eb1b86fd89d9b82f30288eaa178211">pcl::FrustumCulling::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Sample of point indices into a separate PointCloud</div><div class="ttdef"><b>Definition:</b> frustum_culling.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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